Electrical control system of repair welding turnover device

Abstract

The invention provides an electrical control system of a repair welding turnover device. The electrical control system comprises the steps that the workpiece appearance corresponding to each to-be-repaired workpiece in an area to be subjected to repair welding is collected, the workpiece specification and the repair welding position of the workpiece are determined, the to-be-repaired workpieces are classified, the workpiece types are sorted according to the repair welding area corresponding to each workpiece type, and the repair welding area corresponding to each workpiece type is obtained; the robot is controlled to place the to-be-repaired workpiece in the repair welding area, the clamping mechanism is controlled to lock the to-be-repaired workpiece, a corresponding overturning process is generated, and the repair welding progress of the current to-be-repaired workpiece is determined according to the repair welding operation information of a repair welder; after the current workpieces to be repaired are subjected to repair welding, the clamping mechanism is controlled to loosen the current workpieces to be repaired, the robot is controlled to sequentially grab the workpieces to be repaired, the repair welding work information corresponding to the workpieces to be repaired is collected, the corresponding repair welding results are generated and displayed, the workload of welders is effectively reduced, and the repair welding efficiency and quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece repair welding, and particularly relates to an electrical control system for a repair welding flipping device. Background Art

[0002] During daily production of vehicle body workpieces, when defects such as welding through, offset welding, porosity, false welding, and non-compliant weld bead width occur during automatic welding of workpieces, welders need to remove the workpieces from the production line and place them on a repair welding table for repair welding until they are qualified before loading them onto a trolley for shipment. This has defects such as high labor costs, slow production tempo, and many potential safety hazards.

[0003] When existing vehicle body workpieces are repaired and welded, welders carry the workpieces to the repair welding table for repair welding, resulting in high labor costs and slow tempo. When repairing and welding on the repair welding table, there are situations where it is not reachable. When turning the workpiece over for repair welding, a series of defects such as welder muscle strain, excessive noise from collision with the repair welding table, and parts slipping and injuring people will occur. Currently, the production situation has high labor costs and slow tempo. When repairing and welding on the repair welding table, there are situations where it is not reachable. When turning the workpiece over for repair welding, a series of defects such as welder muscle strain, excessive noise from collision with the repair welding table, and parts slipping and injuring people will occur.

[0004] Therefore, the present invention provides an electrical control system for a repair welding flipping device. Summary of the Invention

[0005] An electrical control system for a repair welding flipping device according to the present invention visually identifies and inspects the weld seams of workpieces, and cooperates with a repair welding flipping table to automatically repair weld the defective parts of the weld seams, reducing the workload of welders and improving the efficiency and quality of repair welding.

[0006] The present invention provides an electrical control system for a repair welding flipping device, including: A workpiece identification module, configured to collect the appearance of each workpiece to be repaired in the area to be repaired, and determine the workpiece specifications and repair welding positions corresponding to each workpiece to be repaired; A workpiece sorting module, configured to classify the workpieces to be repaired based on the workpiece specifications, and sort the workpiece categories according to the repair welding area corresponding to each workpiece category; A workpiece locking module, configured to control a robot to place the workpiece to be repaired in the repair welding area, control a clamping mechanism to lock the workpiece to be repaired based on the corresponding workpiece specifications and repair welding positions, and generate a corresponding flipping process; A repair welding execution module, configured to determine the repair welding progress of the current workpiece to be repaired according to the repair welding operation information of the repair welder, and control the clamping mechanism to release the current workpiece to be repaired after the repair welding of the current workpiece to be repaired is completed; A cyclic supervision module, which is used to control the robot to sequentially grasp each workpiece to be repaired, collect the welding repair work information corresponding to each workpiece to be repaired, generate the corresponding welding repair results and display them.

[0007] In an implementable manner, The workpiece recognition module includes: An image acquisition unit, which is used to acquire real-time image information of the area to be welded, analyze a plurality of workpiece images included in the real-time image information by using image recognition technology, perform edge detection on each workpiece image respectively, and obtain the workpiece contour information corresponding to each workpiece to be repaired; A weight acquisition unit, which is used to acquire the real-time weight information corresponding to each weight acquisition point in the area to be welded, obtain a plurality of weight center points in the welding repair area, and set a corresponding weight range for each workpiece to be repaired included between adjacent weight acquisition points based on the real-time weight information; An appearance analysis unit, which is used to draw the workpiece appearance corresponding to the workpiece to be repaired based on the workpiece contour information, construct a workpiece storage image of the area to be welded, mark each weight center point in the workpiece storage image respectively, adjust the workpiece weight of each workpiece to be repaired within the weight range until the weight balance in the workpiece storage image is achieved, and obtain the workpiece weight information corresponding to each workpiece to be repaired; A depth recognition unit, which is used to construct the workpiece specifications of each workpiece to be repaired based on the workpiece appearance and the corresponding workpiece weight information, perform surface recognition on each workpiece appearance respectively, obtain a plurality of welding repair positions of each workpiece to be repaired, establish the workpiece information of each workpiece to be repaired and display it.

[0008] In an implementable manner, The depth recognition unit is further used for: Mark each welding repair position in the corresponding workpiece specifications respectively, obtain the welding repair information table of each workpiece to be repaired and display it.

[0009] In an implementable manner, The workpiece sorting module includes: A workpiece clustering unit, which is used to perform K-means clustering on the workpieces to be repaired based on the workpiece specifications to obtain several workpiece classes; An intra-cluster sorting unit, which is used to respectively count the welding repair positions corresponding to each workpiece to be repaired, obtain the welding repair area of each clustering cluster, and sort the workpiece classes in descending order of the welding repair area.

[0010] In an implementable manner, It further includes: A clustering analysis unit for respectively obtaining the cluster centroids and cluster specifications corresponding to each workpiece class, constructing a number of grasping positions corresponding to the workpiece class based on the cluster centroids and cluster specifications, and determining the grasping force range corresponding to each grasping position; A program construction unit for constructing the in-class workpiece grasping sequence corresponding to each workpiece class, generating the grasping force distribution characteristics of each workpiece to be supplemented in combination with the grasping positions and grasping force ranges corresponding to each workpiece to be supplemented, and generating a grasping program to be input into the robot.

[0011] In an implementable manner, The workpiece locking module includes: A robot control unit for obtaining the grasping program of the robot, constructing a number of capture conditions corresponding to each workpiece to be supplemented, obtaining the grasping posture of the robot when the robot captures the workpiece to be supplemented, and controlling the robot to place the workpiece to be supplemented in the welding repair area when the grasping posture meets the capture conditions; A workpiece locking unit for determining a number of locking points of the workpiece to be supplemented based on the capture conditions, determining the locking force value corresponding to each locking point based on the corresponding workpiece specifications and the welding repair position, and controlling the clamping mechanism to lock the workpiece to be supplemented; A workpiece flipping unit for generating a corresponding welding repair flipping path according to the welding repair position corresponding to each workpiece to be supplemented, determining a number of flipping and fixing postures, controlling the clamping mechanism to lock and fix each flipping and fixing posture respectively, and generating the flipping process of each workpiece to be supplemented.

[0012] In an implementable manner, It further includes: The clamping mechanism is connected to a relay electrical box, and the relay electrical box is connected to the main electrical control cabinet; The relay electrical box supplies power to the clamping mechanism, and a PLC is provided in the main electrical control cabinet to import a flipping program into the clamping mechanism.

[0013] In an implementable manner, The welding repair execution module includes: A welding repair supervision unit for collecting the welding repair operation information of the welding repair worker, and generating the welding repair progress of the current workpiece to be supplemented in combination with a number of welding repair positions of the current workpiece to be supplemented; A signal feedback unit for generating a completion feedback signal and transmitting it to the clamping mechanism when the welding repair of the current workpiece to be supplemented is completed, and controlling the clamping mechanism to release the current workpiece to be supplemented; A transfer execution unit for transmitting the completion feedback signal to the robot to control the robot to place the current workpiece to be repaired into the completion area.

[0014] In an implementable manner, The loop supervision module includes: A workpiece transfer unit for controlling the robot to transfer each workpiece to be repaired to the operation area of the welding repair worker for welding repair; A depth supervision unit for collecting the welding repair work information corresponding to each workpiece to be repaired by the welding repair worker, constructing the welding repair result corresponding to each workpiece to be repaired, and when the welding repair result is normal, transmitting the welding repair result to a designated terminal for display; When the welding repair result is abnormal, generating a signal for re-welding repair and controlling the robot to transfer the workpiece to be repaired to the area to be welded.

[0015] The achievable beneficial effects of the above technical solution are as follows: In order to relieve the work pressure of welders, improve their work efficiency, reduce the risks faced by welders during work, and improve the quality of workpieces, before the welding repair work, the appearance of the workpieces to be welded in the area to be welded is identified to determine their workpiece specifications and welding repair positions, and then the workpieces to be repaired are divided into multiple workpiece categories, and further the welding repair sequence of the welding repair production line is determined. On the one hand, it can reduce the phenomenon of welders wasting time by frequently changing tools, and on the other hand, it can extend the service life of the clamping mechanism. During the welding repair work, the robot is controlled to place the workpiece to be repaired in the welding repair area and lock it. Then, during the welding repair process of the welding repair worker, the welding repair tool is flipped according to the progress needs, and the workpiece to be repaired is released after the welding repair is completed. During this period, the robot circulates to transport the workpiece to be repaired, and at the same time collects the welding repair work information of each workpiece to be repaired, constructs its welding repair result and displays it, so that welders and other relevant personnel can understand the current situation of the workpiece to be repaired at any time.

[0016] Other features and advantages of the present invention will be described in the following specification, and part of them will become obvious from the specification or be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written specification and the drawings.

[0017] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0018] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1Schematic diagram of the composition of the electrical control system of a repair welding flipping device in an embodiment of the present invention; Figure 2 Schematic diagram of the composition of the workpiece recognition module of the electrical control system of a repair welding flipping device in an embodiment of the present invention; Figure 3 Schematic diagram of the structure of the housing in an embodiment of the present invention; Figure 4 Schematic diagram of the meshing connection relationship between the gear and the rack in an embodiment of the present invention; Figure 5 Schematic diagram of the opening position of the air outlet grille on the housing in an embodiment of the present invention; Figure 6 Schematic diagram of the rotational connection relationship between the pipe body and the mounting block in an embodiment of the present invention; Figure 7 Schematic diagram of the connection relationship between the wire and the discharge needle in an embodiment of the present invention.

[0019] Wherein: housing 1, intake air filter 2, air outlet grille 3, motor 4, double screw 5, screw block 6, pipe body 7, brush 8, gear 9, rack 10, mounting block 11, air pump 12, rubber wheel 13, intake pipe 14, outlet pipe 15, air guide cavity 16, exhaust hole 17, wire 18, discharge needle 19. Detailed implementation manners

[0020] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used for explaining and illustrating the present invention, and are not used to limit the present invention.

[0021] Embodiment 1 This embodiment provides an electrical control system for a repair welding flipping device, as Figure 1 shown, including: A workpiece recognition module, configured to collect the appearance of each workpiece to be repaired in the area to be repaired, and determine the workpiece specifications and repair welding positions corresponding to each workpiece to be repaired; A workpiece sorting module, configured to classify the workpieces to be repaired based on the workpiece specifications, and sort the workpiece categories according to the repair welding area corresponding to each workpiece category; A workpiece locking module, configured to control the robot to place the workpiece to be repaired in the repair welding area, control the clamping mechanism to lock the workpiece to be repaired based on the corresponding workpiece specifications and repair welding positions, and generate a corresponding flipping process; A repair welding execution module, configured to determine the repair welding progress of the current workpiece to be repaired according to the repair welding operation information of the repair welding worker, and control the clamping mechanism to release the current workpiece to be repaired after the repair welding of the current workpiece to be repaired is completed; The loop supervision module is used to control the robot to sequentially grasp each workpiece to be repaired, collect the welding repair work information corresponding to each workpiece to be repaired, generate the corresponding welding repair results and display them.

[0022] In this example, the area to be welded represents the area used to store the workpieces to be repaired; In this example, the workpiece to be repaired represents the workpiece that needs to be welded, that is, the workpiece with unqualified welding; In this example, the workpiece specification represents the size and weight of the workpiece to be repaired; In this example, the welding repair position represents the position on the workpiece to be repaired that needs to be welded; In this example, the tilter, vehicle type identification sensor, electric control relay box, workpiece inspection sensor, clamping mechanism, clamping / loosening in-place detection sensor, electric control wire interface, solenoid valve island box, and human-machine operation button.

[0023] The working principle and beneficial effects of the above technical solution: In order to relieve the work pressure of welders, improve their work efficiency, reduce the risks faced by welders during work, and improve the quality of workpieces, before the welding repair work, the workpieces to be repaired in the area to be welded are visually identified to determine their workpiece specifications and welding repair positions, and then the workpieces to be repaired are divided into multiple workpiece categories, and then the welding repair sequence of the welding repair line is determined. On the one hand, it can reduce the phenomenon of welders wasting time by frequently changing tools, and on the other hand, it can extend the service life of the clamping mechanism. During the welding repair work, the robot is controlled to place the workpiece to be repaired in the welding repair area and lock it. Then, during the welding repair process of the welding repair worker, the welding repair tool is flipped according to the progress needs, and the workpiece to be repaired is released after the welding repair is completed. During this period, the robot circulates to transport the workpieces to be repaired, and at the same time collects the welding repair work information of each workpiece to be repaired, constructs its welding repair results and displays them, so that welders and other relevant personnel can understand the current situation of the workpieces to be repaired at any time.

[0024] Embodiment 2 Based on Embodiment 1, the electrical control system of the welding repair tilting device is as Figure 2 shown, and the workpiece identification module includes: The image acquisition unit is used to obtain the real-time image information of the area to be welded, analyze several workpiece images included in the real-time image information by using image recognition technology, and perform edge detection on each workpiece image respectively to obtain the workpiece contour information corresponding to each workpiece to be repaired; The weight acquisition unit is used to obtain the real-time weight information corresponding to each weight acquisition point in the area to be welded, obtain several weight center points of the welding repair area, and set corresponding weight ranges for each workpiece to be repaired included between adjacent weight acquisition points based on the real-time weight information; Appearance analysis unit, which is used to draw the workpiece appearance corresponding to the workpiece to be repaired based on the workpiece contour information, construct the workpiece storage image of the area to be repaired by welding, mark each of the weight center points in the workpiece storage image, adjust the workpiece weight of each workpiece to be repaired within the weight range until the weight balance in the workpiece storage image is achieved, and obtain the workpiece weight information corresponding to each workpiece to be repaired; Depth recognition unit, which is used to construct the workpiece specifications of each workpiece to be repaired based on the workpiece appearance and the corresponding workpiece weight information, perform surface recognition on each workpiece appearance respectively, obtain several welding repair positions of each workpiece to be repaired, establish the workpiece information of each workpiece to be repaired and display it.

[0025] In this example, the weight center point represents the gravity concentration point in the area to be repaired by welding; In this example, the weight range means that the actual weight of the workpiece to be repaired is within this weight range.

[0026] The working principle and beneficial effects of the above technical solution: The workpiece contour information in the area to be repaired by welding is determined through image recognition technology, and the real-time weight information of the area to be repaired by welding is collected at the same time, and then the weight-related data of each workpiece to be repaired are deduced. Then, based on the workpiece contour information and the weight-related data, the workpiece weight information of each workpiece to be repaired is analyzed, and then its workpiece specifications are determined. The surface recognition technology is used to identify the welding repair positions of the workpieces to be repaired, and the workpiece information of the workpieces to be repaired is obtained. In this way, the specifications and weights of multiple workpieces to be repaired can be identified simultaneously, improving the efficiency of the preparatory work before welding repair.

[0027] Embodiment 3 Based on Embodiment 2, for the electrical control system of a welding repair flipping device, the depth recognition unit is further used for: Mark each of the welding repair positions in the corresponding workpiece specifications respectively, obtain the welding repair information table of each workpiece to be repaired and display it.

[0028] The working principle and beneficial effects of the above technical solution: The welding repair information table of each workpiece to be repaired is constructed for the welder to refer to, improving the working efficiency of the welder.

[0029] Embodiment 4 Based on Embodiment 1, for the electrical control system of a welding repair flipping device, the workpiece sorting module includes: Workpiece clustering unit, which is used to perform K-means clustering on the workpieces to be repaired based on the workpiece specifications, and obtain several workpiece classes; The in-cluster sorting unit is used to respectively count the welding repair positions corresponding to each of the workpieces to be repaired, obtain the welding repair areas of each of the clustering clusters, and sort the workpiece classes in descending order based on the welding repair areas.

[0030] The working principle and beneficial effects of the above technical solution: By clustering, the workpieces to be repaired are divided into several workpiece classes, and then the welding repair order of different workpiece classes is determined by counting the welding repair areas in each workpiece class. On the one hand, it can prevent workers from being dazzled, and on the other hand, it can give priority to processing workpieces with more defects to prevent defective products from entering the market.

[0031] Embodiment 5 Based on Embodiment 4, the electrical control system of the welding repair flipping device further includes: The clustering analysis unit is used to respectively obtain the cluster centroid and cluster specification corresponding to each of the workpiece classes, construct several grasping positions corresponding to the workpiece classes based on the cluster centroid and cluster specification, and determine the grasping force range corresponding to each of the grasping positions; The program construction unit is used to construct the in-class workpiece grasping order corresponding to each of the workpiece classes, generate the grasping force distribution characteristics of each of the workpieces to be repaired in combination with the grasping positions and grasping force ranges corresponding to each of the workpieces to be repaired, and generate a grasping program and input it into the robot.

[0032] In this example, the cluster centroid represents the average workpiece specification of the workpieces to be repaired included in a workpiece class; In this example, the cluster specification represents the average appearance specification of the workpieces to be repaired included in a workpiece class; In this example, the in-class grasping order means grasping the workpieces to be repaired with smaller welding repair areas first, and then successively grasping the workpieces to be repaired with larger welding repair areas; In this example, the grasping force distribution characteristics represent the grasping force conditions of each grasping point of the robot.

[0033] The working principle and beneficial effects of the above technical solution: Using the cluster centroid and cluster specification of the workpiece class to determine the grasping position and grasping force range of each workpiece class. When grasping, only fine-tuning of the grasping force within the grasping force range is required, which improves the grasping efficiency. Finally, setting the corresponding grasping program for the robot can effectively control the robot.

[0034] Embodiment 6 Based on Embodiment 1, for the workpiece locking module of the electrical control system of the welding repair flipping device, it includes: A robot control unit, which is used to obtain the grasping program of the robot, construct several capture conditions corresponding to each workpiece to be repaired, obtain the grasping posture of the robot when the robot captures the workpiece to be repaired, and control the robot to place the workpiece to be repaired in the welding repair area when the grasping posture meets the capture conditions; A workpiece locking unit, which is used to determine several locking points of the workpiece to be repaired based on the capture conditions, determine the locking force value corresponding to each locking point based on the corresponding workpiece specifications and the welding repair position, and control the clamping mechanism to lock the workpiece to be repaired; A workpiece flipping unit, which is used to generate a corresponding welding repair flipping path according to the welding repair position corresponding to each workpiece to be repaired, determine several flipping and fixing postures, control the clamping mechanism to lock and fix each flipping and fixing posture respectively, and generate the flipping process of each workpiece to be repaired.

[0035] In this example, the capture condition represents the conditions that the robot needs to meet when grasping the workpiece to be repaired; In this example, the grasping posture represents the posture presented by the robot when grasping the workpiece to be repaired; In this example, the welding repair flipping path represents the process of flipping the workpiece to be repaired during the welding repair process so that the position to be repaired faces the welder; In this example, the flipping and fixing posture represents the posture presented when fixing after one flipping.

[0036] The working principle and beneficial effects of the above technical solution: In order to reduce the workload of the welder, corresponding capture conditions are constructed according to the grasping program of the robot before the welding repair flipping, and then the workpiece to be repaired is grasped into the welding repair area. Further, several locking points in the workpiece to be repaired are determined, and the locking force value corresponding to each locking point is analyzed, and then the workpiece to be repaired is fixed and locked. When flipping is required, the welding repair flipping path is constructed according to the welding repair position of the workpiece to be repaired, and several flipping and fixing postures of the workpiece to be repaired are determined, so as to determine the flipping process of the workpiece to be repaired. In this way, the flipping work can be completed by the robot and the clamping mechanism, which not only reduces the workload of the welder, but also improves the flipping accuracy and is convenient for the welder to perform welding repair.

[0037] Embodiment 7 Based on Embodiment 6, the electrical control system of the welding repair flipping device further includes: The clamping mechanism is connected to a relay electrical box, and the relay electrical box is connected to the main electrical control cabinet; The relay electrical box supplies power to the clamping mechanism, and a PLC is provided in the main electrical control cabinet to import a flipping program into the clamping mechanism.

[0038] Working principle and beneficial effects of the above technical solution: Multiple devices work simultaneously to achieve effective cooperation.

[0039] Embodiment 8 Based on Embodiment 1, for the electrical control system of the welding repair flipping device, the welding repair execution module includes: A welding repair supervision unit, which is used to collect the welding repair operation information of the welding repair worker, combine several welding repair positions of the current workpiece to be repaired, and generate the welding repair progress of the current workpiece to be repaired; A signal feedback unit, which is used to generate a completion feedback signal and transmit it to the clamping mechanism when the welding repair of the current workpiece to be repaired is completed, and control the clamping mechanism to release the current workpiece to be repaired; A transfer execution unit, which is used to transmit the completion feedback signal to the robot, and control the robot to place the current workpiece to be repaired in the completion area.

[0040] In this example, the completion feedback signal refers to the signal generated after the welding repair work is completed; In this example, the completion area identifier refers to the area for storing the workpieces to be repaired that have completed the welding repair work.

[0041] Working principle and beneficial effects of the above technical solution: When performing welding repair, determine several welding repair positions of the current workpiece to be repaired by collecting the welding repair operation information of the welding repair worker, determine its welding repair progress, and transmit the completion feedback signal to the clamping mechanism and the robot after the welding repair is completed, and control them to perform the corresponding next steps respectively, thus constructing a complete welding repair production line.

[0042] Embodiment 9 Based on Embodiment 1, for the electrical control system of the welding repair flipping device, the cycle supervision module includes: A workpiece transfer unit, which is used to control the robot to transfer each workpiece to be repaired to the operation area of the welding repair worker for welding repair; A depth supervision unit, which is used to collect the welding repair work information corresponding to each workpiece to be repaired by the welding repair worker, construct the welding repair result corresponding to each workpiece to be repaired, and when the welding repair result is normal, transmit the welding repair result to the designated terminal for display; When the welding repair result is abnormal, generate a signal for re-welding repair, and control the robot to transfer the workpiece to be repaired to the area to be welded.

[0043] In this example, the designated terminal refers to the display terminal used by the welder.

[0044] Working principle and beneficial effects of the above technical solution: In order to improve the repair welding quality of the repair welding device and avoid the occurrence of unqualified repair welding, during repair welding, the robot transports the workpiece to be repaired to the operation area for repair welding. At the same time, the repair welding work information of the repair welding worker is used to construct the repair welding result, identify whether the repair welding result is qualified, and then perform different operations on the workpiece, effectively improving the generation rate of complete workpieces.

[0045] Embodiment 10, on the basis of Embodiment 1, as Figures 3 - 7 Set, the relay electric box includes: a housing 1, an air inlet filter screen 2, an air outlet grille 3, a motor 4, a double screw 5, a screw block 6, a pipe body 7 and a brush 8. An air inlet filter screen 2 is connected to one side wall of the housing 1, and the air outlet grille 3 connected to the other side wall of the housing 1 is arranged opposite to the air inlet filter screen 2. A motor two is connected to the inner wall of the housing 1, and the output end of the motor two is connected to a fan blade to cool the inside of the housing 1. A motor 4 is connected to one side wall of the housing 1, the output end of the motor 4 is connected to the double screw 5, two screw blocks 6 are threadedly connected to the double screw 5, the screw block 6 is slidably connected to one side wall of the housing 1, the bottom of the screw block 6 is rotatably connected to the top of the pipe body 7, and the ends of multiple groups of brushes 8 are connected to the pipe body 7. The other end of the brush 8 is in frictional cooperation with the side of the air inlet filter screen 2 outside the housing 1; A gear 9 is connected to the bottom of the pipe body 7, and the gear 9 is meshed with a rack 10 on the housing 1; The bottom end of the pipe body 7 is rotatably connected to a mounting block 11. An air pump 12 is connected to the side of the mounting block 11. A rubber wheel 13 connected to the input shaft of the air pump 12 is in frictional cooperation with the side wall of the housing 1. An air inlet pipe 14 is connected to one side of the air pump 12, and the other end of the air outlet pipe 15 is connected to the end of the air pump 12. The other end of the air outlet pipe 15 is placed in the air guide cavity 16 of the mounting block 11. The top of the air guide cavity 16 is communicated with the bottom of the pipe body 7. The ends of multiple exhaust holes 17 are opened on the inner wall of the pipe body 7, and the other end of each exhaust hole 17 is arranged in the middle of a group of brushes 8; A wire 18 is concentrically arranged in the pipe body 7. The wire 18 is connected to the screw block 6. The end of the wire 18 passing through the side wall of the screw block 6 is connected to a power supply. The ends of multiple discharge needles 19 are connected to the wire 18. The discharge needles 19 are arranged in one-to-one correspondence with the exhaust holes 17, and the tip of the discharge needle 19 is set away from the side wall of the housing 1.

[0046] Working principle and beneficial effects of the above technical solution: When the device is working continuously, the relay switch cabinet will control other components in the device and execute the transmission of corresponding instructions. Therefore, when the device has been working for a period of time, the temperature inside it will rise significantly. At this time, motor two needs to be started. The fan blade at the output end of motor two rotates, and the external air enters the device through the intake filter screen 2 and cools the components inside. The cooled air is discharged through the air outlet grille 3. Due to the setting of the air outlet grille 3 and its use as an exhaust structure during operation, no dust will accumulate on it; However, after motor two has been working for a period of time, dust will accumulate on the intake filter screen 2. To prevent the mechanism from reducing the cooling effect on the inside of the housing 1, which may cause the internal components to burn out and then lead to the overall failure of the device, motor 4 is started at this time. The output end of motor 4 drives the double screw 5 to rotate forward. The screw blocks 6 threadedly connected to the double screw 5 drive the pipe body 7 to move under the cooperation of sliding connection with the side wall of the housing 1. At this time, the two pipe bodies 7 move towards each other, and the bristles 8 on the pipe body 7 clean the dust accumulated on the intake filter screen 2 to prevent the dust from blocking the intake filter screen 2. Subsequently, the output end of motor 4 drives the double screw 5 to rotate in reverse. The screw blocks 6 threadedly connected to the double screw 5 drive the pipe body 7 to move under the cooperation of sliding connection with the side wall of the housing 1. At this time, the two pipe bodies 7 move away from each other, and the bristles 8 on the pipe body 7 clean the dust accumulated on the intake filter screen 2 again, further improving the cleaning effect of the mechanism. The mechanism can also select the number of forward or reverse rotations of the double screw 5 based on the actual situation to correspondingly control the cleaning times; While the pipe body 7 is moving, the gear 9 connected to it meshes with the rack 10. Under the cooperation of the rotational connection at the bottom of the pipe body 7 and the screw block 6, the pipe body 7 drives the bristles 8 to rotate, thereby cleaning the dust on the intake filter screen 2; When the two pipe bodies 7 approach each other, the rubber wheels 13 in frictional fit with the side wall of the outer shell 1 rotate forward, the input shaft of the air pump 12 rotates forward, and the outside air enters the air pump 12 through the air inlet pipe 14. Then, it enters the air guide cavity 16 through the other end of the air outlet pipe 15. The air then enters the pipe body 7 and is discharged through the exhaust holes 17. At this time, the exhaust holes 17 facing the air inlet filter 2 can clean a certain amount of dust on it, avoiding the dust from being stubbornly attached to the air inlet filter 2 due to heat generation and electrostatic charge. The remaining dust can reduce the adhesion strength of the dust on the air inlet filter 2 through the flowing air and be swept away by the bristles 8; since there are multiple exhaust holes 17 on the pipe body 7, the exhaust holes 17 far from the air inlet filter 2 can reduce the air pressure input by the air pump 12, thereby avoiding the flowing air applying too much air pressure to the dust and causing the dust to block the air inlet filter 2; at the same time, the wire 18 is energized, and an electric field is generated at the tip of the discharge needle 19. Since the discharge needle 19 is arranged far from the air inlet filter 2, when the bristles 8 rotate to the side far from the air inlet filter 2, the dust on the bristles 8 will be affected by the electric field and the static electricity on it will be neutralized to clean the bristles 8; After the air inlet filter 2 is cooled once by the flowing air, the adhesion of the remaining dust attached to the air inlet filter 2 due to static electricity significantly decreases. At this time, the two pipe bodies 7 move away from each other, and part of the dust is swept by the bristles 8. At this time, the rubber wheels 13 rotate in reverse, and the air pump 12 works in reverse. The air in the environment enters the pipe body 7 through the exhaust holes 17, then enters the air guide cavity 16, and enters the air pump 12 through the air outlet pipe 15. At this time, the remaining dust on the air inlet filter 2 is finally discharged through the air inlet pipe 14, further ensuring that the dust on the air inlet filter 2 and the bristles 8 is thoroughly cleaned; at this time, the wire 18 can also be energized to generate an electric field at the tip of the discharge needle 19 to discharge the air flowing into the pipe body 7, eliminating the static electricity on the dust passing through the air pump 12 and preventing the dust with static electricity from blocking the air pump 12 or the hole structure or the pipeline structure.

[0047] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. An electrical control system for a repair welding turning device, characterized in that Including: A workpiece recognition module, configured to collect the workpiece appearance corresponding to each workpiece to be repaired in the area to be repaired, and determine the workpiece specification and repair position corresponding to each workpiece to be repaired; A workpiece sorting module, configured to classify the workpieces to be repaired based on the workpiece specifications, and sort the workpiece categories according to the repair area corresponding to each workpiece category; A workpiece locking module, configured to control the robot to place the workpiece to be repaired in the repair area, control the clamping mechanism to lock the workpiece to be repaired based on the corresponding workpiece specification and repair position, and generate a corresponding flipping process; A repair execution module, configured to determine the repair progress of the current workpiece to be repaired according to the repair operation information of the repair worker, and control the clamping mechanism to release the current workpiece to be repaired after the repair of the current workpiece to be repaired is completed; A cyclic supervision module, configured to control the robot to sequentially grasp each workpiece to be repaired, collect the repair work information corresponding to each workpiece to be repaired, generate a corresponding repair result and display it.

2. The electrical control system of a repair welding flipping device as described in claim 1, characterized in that, The workpiece recognition module includes: An image acquisition unit, configured to obtain real-time image information of the area to be repaired, analyze a plurality of workpiece images included in the real-time image information by using image recognition technology, perform edge detection on each workpiece image respectively, and obtain the workpiece contour information corresponding to each workpiece to be repaired; A weight acquisition unit, configured to obtain the real-time weight information corresponding to each weight acquisition point in the area to be repaired, obtain a plurality of weight center points of the repair area, and set a corresponding weight range for each workpiece to be repaired included between adjacent weight acquisition points based on the real-time weight information; An appearance analysis unit, configured to draw the workpiece appearance corresponding to the workpiece to be repaired based on the workpiece contour information, construct a workpiece storage image of the area to be repaired, mark each weight center point in the workpiece storage image respectively, adjust the workpiece weight of each workpiece to be repaired within the weight range until the weight balance in the workpiece storage image is achieved, and obtain the workpiece weight information corresponding to each workpiece to be repaired; A depth recognition unit, configured to construct the workpiece specification of each workpiece to be repaired based on the workpiece appearance and the corresponding workpiece weight information, perform surface recognition on each workpiece appearance respectively, obtain a plurality of repair positions of each workpiece to be repaired, establish the workpiece information of each workpiece to be repaired and display it.

3. The electrical control system of a repair welding and flipping device according to claim 2, characterized in that, The depth recognition unit is further configured to: Mark each repair position in the corresponding workpiece specification respectively, obtain a repair information table of each workpiece to be repaired and display it.

4. The electrical control system of a repair welding and flipping device as described in claim 1, characterized in that, The workpiece sorting module includes: A workpiece clustering unit, configured to perform K-means clustering on the workpieces to be repaired based on the workpiece specifications to obtain a plurality of workpiece categories; An intra-cluster sorting unit, configured to respectively count the repair positions corresponding to each workpiece to be repaired, obtain the repair area of each clustering cluster, and sort the workpiece categories in descending order of the repair area.

5. The electrical control system of a repair welding and flipping device according to claim 4, characterized in that, It also includes: The clustering analysis unit is used to respectively obtain the cluster centroids and cluster specifications corresponding to each workpiece class, construct several grasping positions corresponding to the workpiece class based on the cluster centroids and cluster specifications, and determine the grasping force range corresponding to each grasping position; The program construction unit is used to construct the in-class workpiece grasping sequence corresponding to each workpiece class, generate the grasping force distribution characteristics of each workpiece to be supplemented by combining the grasping positions and grasping force ranges corresponding to each workpiece to be supplemented, and generate a grasping program and input it into the robot.

6. The electrical control system of a repair welding flipping device according to claim 1, characterized in that, The workpiece locking module includes: The robot control unit is used to obtain the grasping program of the robot, construct several capturing conditions corresponding to each workpiece to be supplemented, obtain the grasping posture of the robot when the robot captures the workpiece to be supplemented, and control the robot to place the workpiece to be supplemented in the welding repair area when the grasping posture meets the capturing conditions; The workpiece locking unit is used to determine several locking points of the workpiece to be supplemented based on the capturing conditions, determine the locking force value corresponding to each locking point based on the corresponding workpiece specifications and the welding repair position, and control the clamping mechanism to lock the workpiece to be supplemented; The workpiece flipping unit is used to generate a corresponding welding repair flipping path according to the welding repair position corresponding to each workpiece to be supplemented, determine several flipping and fixing postures, control the clamping mechanism to lock and fix each flipping and fixing posture respectively, and generate the flipping process of each workpiece to be supplemented.

7. The electrical control system of a repair welding and flipping device as described in claim 6, characterized in that, It also includes: The clamping mechanism is connected to the relay electrical box, and the relay electrical box is connected to the main electrical control cabinet; The relay electrical box supplies power to the clamping mechanism, and a PLC is provided in the main electrical control cabinet to import a flipping program for the clamping mechanism.

8. The electrical control system of a repair welding and flipping device as described in claim 1, characterized in that, The welding repair execution module includes: The welding repair supervision unit is used to collect the welding repair operation information of the welding repair worker, and generate the welding repair progress of the current workpiece to be supplemented by combining several welding repair positions of the current workpiece to be supplemented; The signal feedback unit is used to generate a completion feedback signal and transmit it to the clamping mechanism when the welding repair of the current workpiece to be supplemented is completed, and control the clamping mechanism to release the current workpiece to be supplemented; The transfer execution unit is used to transmit the completion feedback signal to the robot, and control the robot to place the current workpiece to be supplemented in the completion area.

9. The electrical control system of a repair welding turnover device according to claim 1, characterized in that, The cycle supervision module includes: The workpiece transfer unit is used to control the robot to transfer each workpiece to be supplemented to the operation area of the welding repair worker for welding repair; The depth supervision unit is used to collect the welding repair work information corresponding to each workpiece to be supplemented by the welding repair worker, construct the welding repair result corresponding to each workpiece to be supplemented, and transmit the welding repair result to a specified terminal for display when the welding repair result is normal; When the welding repair result is abnormal, generate a signal for re-welding repair, and control the robot to transfer the workpiece to be supplemented to the area to be welded.

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